Embedded piece cutting and hanging robot control system and robot control method
A control system and embedded technology, which is applied in the direction of program control manipulators, instruments, manipulators, etc., can solve the problem of large controller size and achieve the effect of reducing the size
Inactive Publication Date: 2018-10-12
XI'AN POLYTECHNIC UNIVERSITY
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Problems solved by technology
[0004] The purpose of the present invention is to provide an embedded cutting piece hanging robot control system, which can effectively solve the problem that the current robot cannot work in a narrow space due to the large controller volume
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[0054] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0055] The present invention is an embedded cutting piece hanging piece robot control system, the structure is as follows figure 1 As shown, it includes a hardware layer, a control layer and an application layer that are connected in sequence. The application layer includes several interconnected PC host computers with a hotspot function, and the PC host computer is connected to the control layer through a wireless connection; the hardware layer includes There are several servo motors on the mechanical body of the robot, each servo motor is connected to a servo driver, and multiple servo drivers communicate through the CAN communication module; the control layer uses the ARM embedded platform as the core to centrally receive and process the data information of each functional module , and then send instructions to complete the motion control ...
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The invention discloses an embedded piece cutting and hanging robot control system. The system comprises a hardware layer, a control layer and an application layer connected in sequence; the application layer comprises multiple upper PCs connected mutually; the upper PCs are connected with the control layer in a wireless connection mode; the hardware layer comprises multiple servomotors mounted ona mechanical body of a robot; each servomotor is connected with a servo driver; the multiple servo drivers communicate through a CAN communication module; and the control layer comprises an ARM embedded platform and functional modules. The invention furthermore discloses a piece cutting and hanging robot control method. Robot joint parameters are calculated out and motion parameters of an end executor reaching a piece cutting position are calculated out according to a planned track through a motion control chip; and the robot is driven to capture cut pieces and hang the cut pieces on a clothes rack. The robot control system does not need manual intervention, autonomously identifies the cut pieces and determines the positions of the cut pieces, and accurately and effectively finishes piececapturing and hanging actions.
Description
technical field [0001] The invention belongs to the technical field of motion control devices for embedded robots, and in particular relates to a control system for an embedded cutting and hanging robot, and also relates to a control method for the cutting and hanging robot. Background technique [0002] With the development of the national economy entering a new normal, the traditional development model of relying on resource consumption and continuous labor input has become unsustainable, and the endogenous power of the textile and garment industry must be continuously strengthened. With the opening of the "Industry 4.0" curtain and the disappearance of the demographic dividend, the gradual maturity of robot technology and the popularization of applications in various industries, robots will replace humans to reduce labor, and will eventually become a realistic choice for textile and garment enterprises. It is the best choice for the sustainable development of textile and ...
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IPC IPC(8): G06T7/13G06T7/80B25J9/16
CPCB25J9/161B25J9/1679B25J9/1697G06T7/13G06T7/80
Inventor 王晓华柯莉红张蕾杨涛
Owner XI'AN POLYTECHNIC UNIVERSITY